US8958968B2 - Traction control device and method for a motorcycle - Google Patents

Traction control device and method for a motorcycle Download PDF

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US8958968B2
US8958968B2 US13/836,090 US201313836090A US8958968B2 US 8958968 B2 US8958968 B2 US 8958968B2 US 201313836090 A US201313836090 A US 201313836090A US 8958968 B2 US8958968 B2 US 8958968B2
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Prior art keywords
slip ratio
engine
target
driving force
motorcycle
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US20130261925A1 (en
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Fuyuki Kobayashi
Yoichiro FUKAO
Yohei MARUYAMA
Tatsuya Ito
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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Assigned to HONDA MOTOR CO., LTD. reassignment HONDA MOTOR CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: FUKAO, YOICHIRO, ITO, TATSUYA, KOBAYASHI, FUYUKI, MURAYAMA, YOHEI
Publication of US20130261925A1 publication Critical patent/US20130261925A1/en
Assigned to HONDA MOTOR CO., LTD. reassignment HONDA MOTOR CO., LTD. CORRECTIVE ASSIGNMENT TO CORRECT THE CORRECT THE SPELLING OF THE THIRD INVENTORS LAST NAME PREVIOUSLY RECORDED ON REEL 030324 FRAME 0424. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT. Assignors: FUKAO, YOICHIRO, ITO, TATSUYA, KOBAYASHI, FUYUKI, MARUYAMA, Yohei
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0657—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/16—Pitch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/18—Roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/26—Wheel slip

Definitions

  • the present invention relates to a traction control device and method for a motorcycle, which improves stability and drivability of the motorcycle during cornering operation thereof.
  • Japanese Published Patent Document No. 2011-137427 describes a traction control system that makes the grip of a vehicle maintained by reducing the output of a driving wheel when the slip ratio of the vehicle exceeds a target slip ratio.
  • the traction control system dynamically changes the target slip ratio according to a driving state (an amount of change in opening degree of a throttle, the slip ratio, an amount of change in engine rotational speed, and the like) of the vehicle, and thereby executes traction control immediately in a state of a high slip ratio of the vehicle and suppresses the execution of traction control in a state of a low slip ratio because a grip state is improving.
  • the conventional control uses the slip ratio and the amount of change in throttle opening degree as parameters for the control. Thus, a delay is required before the amount of change is detected and a prediction time for predicting a subsequent state, such that quicker control may not be executed.
  • a traction control device ( 10 ) for a motorcycle includes an engine driving force controller ( 116 and 140 ) for calculating a real slip ratio (Sr) of a vehicle ( 12 ), setting a target slip ratio (St) according to a driving state of the vehicle ( 12 ), and controlling a driving force of an engine ( 106 ) so that the real slip ratio (Sr) becomes the target slip ratio (St); throttle opening degree sensor ( 122 ) for detecting a throttle opening degree ( ⁇ g) of a throttle grip ( 37 ); and bank angle sensor ( 128 ) for detecting a bank angle ( ⁇ r) of the vehicle ( 12 ); wherein the engine driving force controller ( 116 and 140 ) calculates the target slip ratio (St) on a basis of the throttle opening degree ( ⁇ g) and the bank angle (Or) of the vehicle ( 12 ).
  • the engine driving force controller ( 116 and 140 ) includes target torque setting unit ( 156 ) for setting a target torque (T) of the engine ( 106 ) from the target slip ratio (St) and the real slip ratio (Sr), and an output torque (Tr) of the engine ( 106 ) is reduced to become the target torque (T) by adjusting an opening degree ( ⁇ th) of an inlet valve ( 104 ) disposed in an inlet path ( 102 ) of the engine ( 106 ) and adjusting ignition timing of the engine ( 106 ), whereby traction control for making the real slip ratio (Sr) converge to the target slip ratio (St) is executed.
  • a target value of the target slip ratio (St) is set as a slip ratio based on a ratio between a rotational speed (Rf) of a driven wheel ( 20 ) and a rotational speed (Rr) of a driving wheel ( 28 ), the target slip ratio (St) is set by a map search using a slip ratio map ( 170 ) having the throttle opening degree ( ⁇ g) and the bank angle (Or) as parameters, and the slip ratio map ( 170 ) is recorded in a memory ( 140 ) of the engine driving force controller ( 116 and 140 ) in a rewritable manner.
  • the target torque setting unit ( 156 ) uses sliding mode control.
  • the target torque setting unit ( 156 ) has vehicle speed feedback control for calculating the target torque (T) on a basis of a difference between the target slip ratio (St) and the real slip ratio (Sr) calculated on a basis of an estimated vehicle body speed and speed of a driving wheel, and engine rotational speed feedback control for setting a target engine rotational speed (NE 1 ) on a basis of the target slip ratio (St) and calculating the target torque (T) on a basis of a difference between the target engine rotational speed (NE 1 ) and a real engine rotational speed (NE 2 ), and one of the vehicle speed feedback control and the engine rotational speed feedback control is used according to a driving state of the vehicle.
  • vehicle speed feedback control for calculating the target torque (T) on a basis of a difference between the target slip ratio (St) and the real slip ratio (Sr) calculated on a basis of an estimated vehicle body speed and speed of a driving wheel
  • engine rotational speed feedback control for setting a target engine rotational speed (NE 1 )
  • the traction control device ( 10 ) for the motorcycle further includes transmission gear sensor ( 130 ) for detecting a transmission gear, wherein the target torque setting unit ( 156 ) uses the engine rotational speed feedback control when the transmission gear is a predetermined low gear or a lower gear.
  • the traction control device ( 10 ) for the motorcycle further includes lateral G sensor ( 134 ) for detecting lateral G acceleration of the vehicle, wherein the engine driving force controller ( 116 and 140 ) sets a lateral G driving force limit value on a basis of the detected lateral G acceleration.
  • the engine driving force controller ( 116 and 140 ) compares the target torque (T) with the lateral G driving force limit value, and sets the target torque (T) to the lateral G driving force limit value when the target torque (T) is higher than the lateral G driving force limit value.
  • the lateral G driving force limit value is determined on a basis of a limit driving force based on the lateral G acceleration and an amount of stroke of a front suspension ( 18 ).
  • the engine driving force controller ( 116 and 140 ) includes wheelie sensor ( 162 ) for detecting a wheelie, and when a wheelie is performed, a subtraction torque quantity according to a pitch angle (Op) is subtracted from a torque requested by a user.
  • wheelie sensor ( 162 ) for detecting a wheelie, and when a wheelie is performed, a subtraction torque quantity according to a pitch angle (Op) is subtracted from a torque requested by a user.
  • the subtraction torque quantity is determined according to the pitch angle (Op) and a pitch angular velocity.
  • the target slip ratio is calculated on the basis of the throttle opening degree and the bank angle of the vehicle.
  • the target slip ratio can be calculated from parameters at a moment of operation by the driver. Therefore traction control can be performed from a state of operation itself by the driver rather than from a change in state.
  • quick control is made possible, a need for a control time to perform prediction from a change in state as in the past is eliminated, and traction control suitable for motorcycles suited to sports runs and race runs can be performed.
  • the slip ratio map is recorded in the memory in a rewritable manner, traction control suiting the preferences of the owner can be performed, and drivability is improved.
  • the opening degree of the inlet valve in the inlet path and the ignition timing are adjusted so as to generate the target torque set from the target slip ratio and the real slip ratio.
  • the output of the engine can be adjusted automatically when only the target torque is set.
  • a share for the adjustment of the opening degree of the inlet valve and a share for the adjustment of the ignition timing can be changed according to the conditions of the engine.
  • the target torque setting unit uses sliding mode control.
  • resistance to disturbance is enhanced, and the target torque can be set quickly.
  • the lateral G driving force limit value is set for the vehicle when the vehicle is banked.
  • appropriate output control can be performed in the middle of a cornering run.
  • appropriate output control can be performed also in a case where traction control is performed when the vehicle is banked.
  • the lateral G driving force limit value can be set on the basis of the limit driving force based on the lateral G acceleration and the amount of stroke of the front suspension.
  • an efficient output limitation can be applied at a time of a cornering run or the like.
  • the motorcycle can be driven more desirably by applying an output limitation according to the pitch angle.
  • the subtraction torque quantity is determined according to the pitch angle and the pitch angular velocity. Therefore the subtraction torque quantity can be determined suitably.
  • FIG. 1 is an external left side view of a motorcycle mounted with a traction control device for a motorcycle according to an embodiment.
  • FIG. 2 is a block diagram of the traction control device for the motorcycle.
  • FIG. 3 is a diagram showing a slip ratio map shown in FIG. 2 .
  • FIG. 4 is a diagram showing a limit load map shown in FIG. 2 .
  • FIG. 5 is a diagram showing a front wheel load ratio map shown in FIG. 2 .
  • FIG. 6 is a diagram showing a wheelie correction value map shown in FIG. 2 .
  • FIG. 7 is a flowchart depicting an operation of the traction control device.
  • FIG. 8 is a flowchart depicting a process of calculating a target torque T by vehicle speed FB control.
  • FIG. 9 is a flowchart depicting a process of calculating the target torque T by engine rotational speed FB control.
  • FIG. 10 is a flowchart depicting an operation of a target torque limiting process.
  • FIG. 11 is a flowchart depicting an operation of wheelie control.
  • a traction control device for a motorcycle will hereinafter be described in detail by providing a preferred embodiment thereof with reference to the accompanying drawings.
  • FIG. 1 is an external left side view of a motorcycle (including a motor-assisted bicycle) 12 mounted with a traction control device for a motorcycle (which device will hereinafter be referred to as a traction control device) 10 according to an embodiment.
  • a traction control device for a motorcycle (which device will hereinafter be referred to as a traction control device) 10 according to an embodiment.
  • a frontward and a rearward direction and an upward and a downward direction will be described with respect to the directions of arrows shown in FIG. 1
  • a left and a right direction will be described with respect to a direction as viewed from a driver seated on a vehicle body.
  • the motorcycle (vehicle) 12 includes: a vehicle body frame 14 forming a vehicle body; a pair of left and right front fork members (front suspension) 18 rotatably supported by a head pipe 16 disposed in the front end portion of the vehicle body frame 14 ; a front wheel (driven wheel) 20 attached to the front fork members 18 ; a power unit 22 composed of an engine 106 as a driving source of the motorcycle 12 and an automatic transmission 114 (see FIG. 2 ), the power unit 22 being supported by the vehicle body frame 14 ; a swing arm 26 swingably supported by a pivot portion 24 as the lower portion of the vehicle body frame 14 ; and a rear wheel (driving wheel) 28 attached to the rear end portion of the swing arm 26 .
  • the front fork members 18 have a hydraulic damper to reduce vibration transmitted from a ground surface.
  • the vehicle body frame 14 includes: a pair of left and right main frames 30 extending from the head pipe 16 in an obliquely downward direction; a pair of left and right pivot portions 24 connected to the rear parts of the pair of left and right main frames 30 and extending out downwardly; and a pair of left and right seat frames 32 attached to the rear portions of the main frames 30 and extending rearward in an obliquely upward direction.
  • a headlight 34 for irradiation in a frontward direction of the vehicle body is disposed in front of the head pipe 16 .
  • Bar-shaped handlebars 36 allowing the front wheel 20 to be steered are attached above the head pipe 16 .
  • Grips to be gripped by the driver are disposed on both sides of the handlebars 36 .
  • the grip on the right side is a throttle grip (acceleration instruction unit) 37 (see FIG. 2 ), which is rotatable on the shaft of the handlebars 36 , and gives an instruction for acceleration (to raise the rotational speed of the engine).
  • the front wheel 20 is rotatably supported by the lower end portions of the front fork members 18 .
  • a front wheel brake device (disk brake) 20 a for applying a braking force to the front wheel 20 is mounted on the side of the front wheel 20 .
  • a front fender 38 covering the front wheel 20 from above is attached to the lower end portions of the front fork members 18 .
  • the power unit 22 is fixed and supported by the main frames 30 and the pivot portions 24 .
  • the swing arm 26 extends substantially horizontally from the pivot portions 24 to the rear.
  • the rear end portion of the swing arm 26 rotatably supports the rear wheel 28 .
  • a rear wheel brake device (disk brake) 28 a for applying a braking force to the rear wheel 28 is mounted on the side of the rear wheel 28 .
  • a fuel tank 40 is disposed above the power unit 22 .
  • a seat 42 for carrying occupants is disposed on the seat frames 32 and in the rear of the fuel tank 40 .
  • a so-called tandem type seat composed of a front seat 42 a to be taken by the driver and a rear seat 42 b to be taken by a passenger in the rear of the front seat 42 a is used as the seat 42 .
  • a rear fender 44 extending rearward and extending in an obliquely downward direction from the lower side of the rear portions of the seat frames 32 is attached to the rear portions of the seat frames 32 .
  • a taillight unit 46 is attached to the rear of the seat 42 .
  • the taillight unit 46 includes a brake lamp 46 a and a rear side turn signal lamp 46 b.
  • a vehicle body cover 48 forming the design (external appearance) of the vehicle body is attached to the motorcycle 12 in a longitudinal direction of the vehicle body.
  • the vehicle body cover 48 includes: a front cover 50 covering the front portion of the vehicle body; a pair of left and right side cowls 52 extending in a rearward direction from both sides of the headlight 34 ; and a rear cowl 54 extending in a rearward and upward direction together with the seat frames 32 and covering both sides of the seat frames 32 .
  • a screen 56 is disposed on the upper portion of the front cover 50 .
  • a front side turn signal lamp 58 is attached to the left and right of the front cover 50 .
  • FIG. 2 is a block diagram of the traction control device 10 .
  • a throttle valve (inlet valve) 104 disposed in an inlet pipe (inlet path) 102 adjusts an amount of air supplied to the engine 106 of the power unit 22 according to an opening degree ⁇ th. That is, as the opening degree ⁇ th of the throttle valve 104 is increased, the amount of air supplied to the engine 106 by the throttle valve 104 is increased.
  • the inlet pipe 102 is provided with an injector (fuel injecting unit) 108 for injecting a fuel into the air flowing into the combustion chamber of the engine 106 via the throttle valve 104 , and thereby generating a mixture.
  • the engine 106 is provided with a spark plug (igniting unit) 110 for igniting the mixture flowing into the combustion chamber.
  • a spark plug ignition unit
  • the spark plug 110 effects ignition, the mixture present within the combustion chamber burns, and the engine 106 converts combustion energy into power.
  • An amount of fuel injected from the injector 108 is controlled so that a ratio between the air and the fuel of the mixture flowing into the combustion chamber of the engine 106 is a predetermined ratio.
  • the turning force of a crankshaft 112 as the output shaft of the engine 106 is transmitted to the rear wheel 28 via the automatic transmission (transmission) 114 .
  • the automatic transmission 114 has a plurality of transmission gears.
  • a transmission gear is automatically selected by an ECU 116 according to a vehicle speed and the opening degree ( ⁇ g) of the throttle grip 37 or the opening degree ( ⁇ th) of the throttle valve 104 , so that the transmitted turning force is transmitted to the rear wheel 28 with a transmission gear ratio (speed reduction ratio) changed.
  • the transmission may be a manual transmission allowing a gear to be selected by operation of the driver.
  • the traction control device 10 includes: a front wheel vehicle speed sensor (vehicle speed sensor) 118 for detecting the rotational speed Rf of the front wheel 20 (information on the vehicle speed of the motorcycle 12 ); a rear wheel vehicle speed sensor (vehicle speed sensor) 120 for detecting the rotational speed Rr of the rear wheel 28 (information on the vehicle speed of the motorcycle 12 ); a throttle grip opening degree sensor (throttle opening degree sensor) 122 for detecting the opening degree ⁇ g of the throttle grip 37 (opening degree ⁇ g of the throttle); a throttle opening degree sensor 124 for detecting the opening degree ⁇ th of the throttle valve 104 ; a rotational speed sensor 126 for detecting the engine rotational speed NE of the engine 106 (rotational speed of the crankshaft 112 ); a roll angle sensor (bank angle sensor) 128 for detecting a roll angle (bank angle) Or as the bank angle of the motorcycle 12 ; a gear position sensor (transmission gear sensor) 130 for detecting the currently connected transmission gear of the automatic transmission
  • a TBW (Throttle-By-Wire) device 138 performs throttle-by-wire control for operating the opening degree ⁇ th of the throttle valve 104 of the engine 106 under control of the ECU 116 .
  • the throttle-by-wire control adjusts the opening degree ⁇ th of the throttle valve 104 of the engine 106 according to the opening degree ⁇ g of the throttle grip 37 which opening degree ⁇ g is detected by the throttle grip opening degree sensor 122 .
  • the opening degree ⁇ g of the throttle grip 37 is increased, the opening degree ⁇ th of the throttle valve 104 is increased.
  • the ECU 116 performs centralized control of the whole of the motorcycle 12 .
  • the ECU 116 is formed by a computer of a CPU and the like.
  • the ECU 116 functions as an ECU according to the present embodiment by reading a program recorded in a recording section 140 .
  • the ECU 116 and the recording section 140 function as engine driving force controlling unit according to the present invention.
  • the ECU 116 in the present embodiment includes, in particular, a slip ratio calculating section 150 , a target slip ratio obtaining section 152 , an execution determining section 154 , a target torque setting section (target torque setting unit) 156 , a target torque limiting section 158 , a traction control section 160 , and a wheelie control section 162 .
  • the recording section (memory) 140 stores: a slip ratio map 170 on which a target slip ratio St according to the opening degree ⁇ g of the throttle grip 37 and the roll angle ⁇ r of the motorcycle 12 is recorded as shown in FIG. 3 ; a limit load map 172 on which limits according to the lateral G acceleration are recorded as shown in FIG. 4 ; a front wheel load ratio map 174 on which the load ratio of the front wheel 20 according to the amount of stroke of the front fork members 18 is recorded as shown in FIG.
  • a wheelie torque subtraction quantity map 176 on which a wheelie torque subtraction quantity according to the roll angle ⁇ r and the pitch angle ⁇ p is recorded; and a wheelie correction value map 178 on which a correction value according to a pitch angular velocity is recorded as shown in FIG. 6 .
  • the slip ratio map 170 is set in advance according to the driving pattern of the driver using the motorcycle 12 (inclinations or preferences of driving of the driver). That is, the target slip ratio St according to the opening degree ⁇ g and the roll angle ⁇ r which target slip ratio St is stored on the slip ratio map 170 is set according to the driving pattern of the driver.
  • the slip ratio map 170 according to the driving pattern of the driver can be set by measuring the driving operation of the motorcycle 12 by the driver in advance. This slip ratio map 170 is rewritable.
  • the limit load map 172 is set such that a limit driving force is gradually increased as the lateral G acceleration is increased and such that the limit driving force is decreased sharply when the lateral G acceleration exceeds a certain value.
  • the load ratio of the front wheel 20 on the front wheel load ratio map 174 represents a ratio of a load imposed on the front wheel 20 to a total load imposed on the front wheel 20 and the rear wheel 28 .
  • the load ratio of the front wheel 20 and the load ratio of the rear wheel 28 becomes one when added together.
  • the front wheel load ratio map 174 is set such that the load ratio of the front wheel 20 is gradually increased in proportion to the amount of stroke when the amount of stroke exceeds a certain value.
  • the wheelie torque subtraction quantity map 176 is set such that the wheelie torque subtraction quantity becomes a larger value as the roll angle ⁇ r is increased and as the pitch angle ⁇ p is increased.
  • the wheelie correction value map 178 is set such that the wheelie correction value is decreased in inverse proportion to pitch acceleration within a certain range of the pitch acceleration.
  • the slip ratio calculating section (slip ratio calculating unit) 150 calculates the actual slip ratio (real slip ratio) Sr of the motorcycle 12 on the basis of results of detection of the front wheel vehicle speed sensor 118 and the rear wheel vehicle speed sensor 120 .
  • the slip ratio calculating section 150 obtains an estimated vehicle body speed from the rotational speed Rf of the front wheel 20 which rotational speed Rf is detected by the front wheel vehicle speed sensor 118 and the rotational speed Rr of the rear wheel 28 which rotational speed Rr is detected by the rear wheel vehicle speed sensor 120 , obtains the speed of the rear wheel 28 from the rotational speed Rr of the rear wheel 28 , and calculates the real slip ratio Sr from the estimated vehicle body speed and the speed of the rear wheel 28 or the like.
  • the method of calculating the real slip ratio Sr is a well known technique.
  • the real slip ratio Sr may be calculated by another method.
  • the method of calculating the estimated vehicle body speed is a well known technique, and therefore description thereof will be omitted.
  • the target slip ratio obtaining section 152 obtains, from the slip ratio map 170 , the target slip ratio St according to the opening degree ⁇ g of the throttle grip 37 which opening degree ⁇ g is detected by the throttle grip opening degree sensor 122 and the roll angle ⁇ r of the motorcycle 12 which roll angle ⁇ r is detected by the roll angle sensor 128 .
  • the execution determining section 154 determines whether to execute traction control. Specifically, when the real slip ratio Sr calculated by the slip ratio calculating section 150 exceeds the target slip ratio St obtained by the target slip ratio obtaining section 152 , the execution determining section 154 determines that traction control is to be executed. When the real slip ratio Sr does not exceed the target slip ratio St, the execution determining section 154 determines that traction control is not to be executed.
  • the target torque setting section (target torque calculating unit) 156 calculates a target torque T using sliding mode control when the execution determining section 154 determines that traction control is to be executed. For example, the target torque setting section 156 calculates the target torque T of the engine 106 using sliding mode control from the real slip ratio Sr calculated by the slip ratio calculating section 150 and the target slip ratio St obtained by the target slip ratio obtaining section 152 . That is, the target torque setting section 156 calculates the target torque T of the engine 106 so that the real slip ratio Sr decreases to the target slip ratio St.
  • the sliding mode control is response designation type control allowing the convergence speed of a controlled variable to be designated.
  • the sliding mode control is a control method of switching control above and below a hyperplane set in advance as a subspace within a state space (which hyperplane is a surface dividing a space into two parts) ( ⁇ + above the hyperplane and ⁇ below the hyperplane) such that a state is confined to the hyperplane.
  • the motion trajectory of a control object is confined to the hyperplane, and the motion trajectory after reaching the hyperplane slides on the hyperplane (which is referred to as a sliding mode).
  • This sliding mode control is a well known technique, and therefore description thereof will be omitted. Because the target torque T is calculated by the sliding mode control, the real slip ratio Sr can be made to converge to the target slip ratio St in a shorter time than other feedback control.
  • the target torque limiting section 158 determines whether the target torque T is higher than a lateral G driving force limit value. When the target torque T is higher than the lateral G driving force limit value, the target torque limiting section 158 limits the target torque T to the lateral G driving force limit value. The calculation of the lateral G driving force limit value will be described later.
  • the traction control section 160 executes traction control by controlling at least one of the throttle valve 104 and the spark plug 110 so that the output torque Tr of the engine 106 (torque of the crankshaft 112 ) becomes the target torque T calculated by the target torque setting section 156 or the target torque T limited by the target torque limiting section 158 .
  • the traction control suppresses a state of slipping of the front wheel 20 and the rear wheel 28 by reducing the output of the engine 106 .
  • the traction control section 160 reduces the driving force of the engine 106 by adjusting at least one of the ignition timing of the spark plug 110 and the opening degree ⁇ th of the throttle valve 104 .
  • the traction control section 160 reduces the driving force (output torque Tr) of the engine 106 by advancing or retarding the ignition timing and/or decreasing the opening degree ⁇ th of the throttle valve 104 .
  • the traction control section 160 drives the throttle valve 104 by controlling the TBW device 138 , and thus controls the opening degree ⁇ th of the throttle valve 104 .
  • a share for adjustment of the opening degree ⁇ th of the throttle valve 104 and a share for adjustment of the ignition timing are changed according to the conditions and state of the engine 106 .
  • the driving force of the engine 106 is reduced by greatly adjusting the opening degree ⁇ th of the throttle valve 104 and slightly adjusting the ignition timing when the engine 106 is in a certain state.
  • the traction control section 160 may therefore reduce also an amount of fuel injection by controlling the injector 108 when reducing the opening degree ⁇ th of the throttle valve 104 .
  • the wheelie control section 162 executes wheelie control that reduces the output torque Tr of the engine 106 according to the degree of the wheelie.
  • the operation of the wheelie control section 162 will be described later in detail.
  • the operation of the traction control device 10 will next be described with reference to a flowchart of FIG. 7 .
  • the operation shown in FIG. 7 is performed in certain cycles.
  • the front wheel vehicle speed sensor 118 detects the rotational speed Rf of the front wheel 20 (step S 1 ), and the rear wheel vehicle speed sensor 120 detects the rotational speed Rr of the rear wheel 28 (step S 2 ).
  • the slip ratio calculating section 150 calculates the real slip ratio Sr of the motorcycle 12 on the basis of results of detection of the front wheel vehicle speed sensor 118 and the rear wheel vehicle speed sensor 120 (step S 3 ). Specifically, the slip ratio calculating section 150 obtains an estimated vehicle body speed on the basis of the rotational speed Rf of the front wheel 20 and the rotational speed Rr of the rear wheel 28 , obtains the speed of the rear wheel 28 from the rotational speed Rr of the rear wheel 28 , and calculates the real slip ratio Sr from the estimated vehicle body speed and the speed of the rear wheel 28 or the like.
  • the throttle grip opening degree sensor 122 detects the opening degree ⁇ g of the throttle grip 37 (step S 4 ), and the roll angle sensor 128 detects the roll angle ⁇ r of the motorcycle 12 (step S 5 ).
  • the target slip ratio obtaining section 152 obtains, from the slip ratio map 170 , the target slip ratio St corresponding to the opening degree ⁇ g of the throttle grip 37 which opening degree ⁇ g is detected in step S 4 and the roll angle ⁇ r of the motorcycle 12 which roll angle ⁇ r is detected in step S 5 (step S 6 ).
  • step S 7 the execution determining section 154 determines whether the real slip ratio Sr calculated in step S 3 exceeds the target slip ratio St obtained in step S 6 (step S 7 ).
  • step S 7 When determining in step S 7 that the real slip ratio Sr exceeds the target slip ratio St, the execution determining section 154 determines that traction control is to be executed. When the real slip ratio Sr does not exceed the target slip ratio St, the execution determining section 154 determines that traction control is not to be executed.
  • step S 8 the target torque setting section 156 determines whether a transmission gear detected by the gear position sensor 130 is higher than a threshold value (for example a second transmission gear).
  • the target torque setting section 156 When the gear position detected by the gear position sensor 130 is higher than the threshold value (for example the second transmission gear) in step S 8 , the target torque setting section 156 performs a process of calculating the target torque T by vehicle speed FB (feedback) control (step S 9 ). When the gear position detected by the gear position sensor 130 is equal to or lower than the threshold value, the target torque setting section 156 performs a process of calculating the target torque T by engine rotational speed FB control (step S 10 ). In a power transmission system from the engine 106 to the rear wheel 28 , there are effects of chain slack and backlash of transmission gears of the automatic transmission 114 .
  • the target torque T can be set accurately when the target torque T is calculated by engine rotational speed feedback control rather than by vehicle speed feedback control.
  • the target torque T can be set accurately when the target torque T is calculated by vehicle speed feedback control rather than by engine rotational speed feedback control.
  • the target torque limiting section 158 performs a target torque limiting process (step S 11 ).
  • the target torque limiting section 158 limits the target torque T to the lateral G driving force limit value when the target torque T is higher than the lateral G driving force limit value.
  • the target torque limiting section 158 does not limit the target torque T when the target torque T is equal to or lower than the lateral G driving force limit value. This target torque limiting process will be described later in detail.
  • the traction control section 160 executes traction control by controlling at least one of the spark plug 110 and the throttle valve 104 on the basis of the target torque T after the target torque limiting process (step S 12 ). The process then returns to step S 1 .
  • This traction control controls at least one of the spark plug 110 and the throttle valve 104 so that the output torque Tr of the engine 106 becomes the target torque T.
  • This traction control adjusts (advances or retards) the ignition timing of the spark plug 110 , and adjusts (decreases) the opening degree ⁇ th of the throttle valve 104 , so that the driving force of the engine 106 can be reduced.
  • step S 1 When it is determined that traction control is not to be executed, on the other hand, the process directly returns to step S 1 .
  • cycle timing arrives after the process returns to step S 1 , the above-described operation is performed.
  • step S 9 of FIG. 7 The operation of the process of calculating the target torque T by vehicle speed FB control in step S 9 of FIG. 7 will next be described with reference to a flowchart of FIG. 8 .
  • step S 21 a difference between the target slip ratio St obtained in step S 6 of FIG. 7 and the real slip ratio Sr calculated in step S 3 of FIG. 7 is calculated.
  • the target torque T is calculated on the basis of the difference using the sliding mode (step S 22 ).
  • step S 10 of FIG. 7 The operation of the process of calculating the target torque T by engine rotational speed FB control in step S 10 of FIG. 7 will next be described with reference to a flowchart of FIG. 9 .
  • a target engine rotational speed NE 1 is set on the basis of the target slip ratio St obtained in step S 6 of FIG. 7 (step S 31 ).
  • the target engine rotational speed NE 1 is determined on the basis of the target slip ratio St, the transmission gear detected by the gear position sensor 130 , and the estimated vehicle body speed.
  • a real engine rotational speed NE 2 is set on the basis of the real slip ratio Sr calculated in step S 3 of FIG. 7 (step S 32 ).
  • the real engine rotational speed NE 2 represents an actual engine rotational speed, and therefore the engine rotational speed detected by the rotational speed sensor 126 may be set as the real engine rotational speed NE 2 .
  • a differential engine rotational speed ⁇ NE which is a difference between the target engine rotational speed NE 1 and the real engine rotational speed NE 2 , is calculated (step S 33 ). Specifically, the differential engine rotational speed ⁇ NE is calculated by subtracting the real engine rotational speed NE 2 from the target engine rotational speed NE 1 .
  • the target torque T is calculated on the basis of the differential engine rotational speed ⁇ NE using sliding mode control. That is, the target torque T of the engine 106 is calculated so that the real engine rotational speed NE 2 becomes the target engine rotational speed NE 1 (so that the real slip ratio Sr becomes the target slip ratio St).
  • step S 11 of FIG. 7 The operation of the target torque limiting process in step S 11 of FIG. 7 will next be described with reference to a flowchart of FIG. 10 .
  • the target torque limiting section 158 obtains the limit driving force corresponding to the lateral G acceleration detected by the lateral G acceleration sensor 134 from the limit load map 172 recorded in the recording section 140 (step S 41 ).
  • the target torque limiting section 158 obtains the load ratio of the front wheel 20 according to the amount of stroke of the front fork members 18 which amount of stroke is detected by the stroke sensor 132 (amount of compression of the hydraulic damper) from the front wheel load ratio map 174 (step S 42 ).
  • the larger the amount of stroke the higher the load ratio of the front wheel 20 . This is because the amount of stroke is increased as a heavier load is applied to the front wheel 20 .
  • the target torque limiting section 158 calculates the load ratio of the rear wheel 28 from the load ratio of the front wheel 20 (step S 43 ). That is, the load ratio of the rear wheel 28 is calculated by subtracting the load ratio of the front wheel 20 from one.
  • the target torque limiting section 158 calculates a lateral G driving force limit value from the limit driving force obtained in step S 41 and the load ratio of the rear wheel 28 which load ratio is obtained in step S 43 (step S 44 ). Specifically, the lateral G driving force limit value is calculated by multiplying the limit driving force by the load ratio of the rear wheel 28 .
  • the target torque limiting section 158 determines whether the target torque T obtained in step S 9 or step S 10 of FIG. 7 is higher than the lateral G driving force limit value obtained in step S 44 (step S 45 ).
  • the target torque limiting section 158 uses the target torque T obtained in step S 9 or step S 10 of FIG. 7 as it is without limiting the target torque T (step S 46 ).
  • the target torque limiting section 158 limits the target torque T to the lateral G driving force limit value (step S 47 ). That is, the lateral G driving force limit value is set as the target torque T.
  • the grip of the rear wheel 28 is decreased, and therefore the target torque T is limited to the lateral G driving force limit value to be thereby able to secure a grip of the rear wheel 28 .
  • the output of the engine 106 can be controlled appropriately in the middle of a cornering run.
  • the output torque Tr of the engine 106 is controlled to be a torque according to the opening degree ⁇ g of the throttle grip 37 (requested torque).
  • wheelie control is performed so that the output torque Tr of the engine 106 is lower than the requested torque.
  • the wheelie control section 162 obtains the amount of stroke, the rotational speed Rf of the front wheel 20 , and the rotational speed Rr of the rear wheel 28 that are detected by the stroke sensor 132 , the front wheel vehicle speed sensor 118 , and the rear wheel vehicle speed sensor 120 , respectively, under control of the ECU 116 (steps S 51 to S 53 ).
  • the wheelie control section 162 detects whether the motorcycle 12 is performing a wheelie on the basis of the amount of stroke, the rotational speed Rf of the front wheel 20 , and the rotational speed Rr of the rear wheel 28 that are obtained in steps S 51 to S 53 (step S 54 ). That is, the wheelie control section 162 detects that the motorcycle 12 is performing a wheelie when the amount of stroke is smaller than a certain value, the rotational speed Rf of the front wheel 20 is lower than the rotational speed Rr of the rear wheel 28 , and a difference between the rotational speed Rr of the rear wheel 28 and the rotational speed Rf of the front wheel 20 is equal to or larger than a certain value.
  • step S 54 the wheelie control section 162 obtains the pitch angle ⁇ p and the roll angle ⁇ r that are detected by the pitch angle sensor 136 and the roll angle sensor 128 , respectively, under control of the ECU 116 (steps S 55 and S 56 ).
  • the wheelie control section 162 obtains a wheelie torque subtraction quantity according to the pitch angle ⁇ p and the roll angle ⁇ r from the wheelie torque subtraction quantity map 176 (step S 57 ).
  • the output torque Tr of the engine 106 is desirably reduced in a case of a large pitch angle ⁇ p and a large roll angle ⁇ r.
  • the larger the pitch angle ⁇ p the larger the wheelie torque subtraction quantity obtained, and the larger the roll angle ⁇ r, the larger the wheelie torque subtraction quantity obtained.
  • the wheelie control section 162 detects a pitch angular velocity on the basis of the pitch angle ⁇ p detected by the pitch angle sensor 136 (step S 58 ), and obtains a correction value according to the pitch angular velocity from the wheelie correction value map 178 (step S 59 ).
  • the wheelie control section 162 calculates a subtraction torque quantity by multiplying the wheelie torque subtraction quantity obtained in step S 57 by the wheelie correction value obtained in step S 59 (step S 60 ).
  • the wheelie control section 162 sets, as the output torque Tr of the engine 106 , a value obtained by subtracting the subtraction torque quantity from the requested torque according to the opening degree ⁇ g of the throttle grip 37 which opening degree ⁇ g is detected by the throttle grip opening degree sensor 122 (step S 61 ).
  • the ECU 116 controls the output of the engine 106 so as to generate the output torque Tr.
  • the ECU 116 controls the opening degree ⁇ g of the throttle grip 37 , the ignition timing of the spark plug 110 , and the amount of fuel injection of the injector 108 .
  • the target slip ratio St is calculated on the basis of the roll angle ⁇ r of the motorcycle 12 and the opening degree ⁇ g of the throttle grip 37 .
  • the target slip ratio St can be calculated from parameters at a moment of operation by the driver. Therefore, traction control can be performed from the operation itself of the driver rather than from a change in state. As a result, quick control is made possible, a need for a control time to perform prediction from a change in state as in the past is eliminated, and traction control suitable for motorcycles suited to sports runs and race runs can be performed.
  • slip ratio map 170 is recorded in the recording section 140 in a rewritable manner, traction control suiting the preferences of the owner can be performed, and drivability is improved.
  • the opening degree ⁇ th of the throttle valve 104 and the ignition timing are adjusted so as to generate the target torque T set from the target slip ratio St and the real slip ratio Sr.
  • the output of the engine 106 can be adjusted automatically when only the target torque T is set.
  • a share for the adjustment of the opening degree ⁇ th of the throttle valve 104 and a share for the adjustment of the ignition timing can be changed according to the conditions of the engine 106 .
  • the target torque setting section 156 sets the target torque T using sliding mode control. Thus, resistance to disturbance is enhanced, and the target torque T can be set quickly.
  • the target torque T can be set accurately when the target torque T is set by using engine rotational speed feedback control.
  • the target torque T can be set accurately when the target torque T is set by using vehicle speed feedback control.
  • the target torque T when the target torque T is higher than a lateral G acceleration limit value, the target torque T is limited to the lateral G acceleration limit value. Thereby appropriate output control can be performed in the middle of a cornering run. In addition, the output of the engine 106 can be controlled appropriately also in a case where traction control is performed when the motorcycle 12 is banked.
  • the output of the engine 106 can be limited efficiently at a time of a cornering run.
  • the front wheel 20 is off the ground when a wheelie is performed.
  • the subtraction torque quantity is determined according to the pitch angle ⁇ p, and the value obtained by subtracting the subtraction torque quantity from the requested torque is set as the output torque Tr. Therefore, the motorcycle 12 can be driven more desirably.
  • the subtraction torque quantity is calculated according to the pitch angle and the pitch angular velocity, the subtraction torque quantity can be determined suitably.
  • the traction control device 10 may have a plurality of slip ratio maps 170 .
  • the plurality of slip ratio maps 170 are set in advance according to a plurality of driving patterns different from each other.
  • the ECU 116 uses a slip ratio map 170 selected by a driver among the plurality of slip ratio maps 170 .
  • the target slip ratio obtaining section 152 obtains the target slip ratio St using the slip ratio map 170 selected by the driver, and the execution determining section 154 and the target torque setting section 156 perform the above-described operation using the obtained target slip ratio St.
  • the target slip ratio obtaining section 152 obtains the target slip ratio St using the slip ratio map 170 selected by the driver, and the execution determining section 154 and the target torque setting section 156 perform the above-described operation using the obtained target slip ratio St.
  • a plurality of limit load maps 172 a plurality of front wheel load ratio maps 174 , a plurality of wheelie torque subtraction quantity maps 176 , and a plurality of wheelie correction value maps 178 according to the operation patterns of drivers, and a limit load map 172 , a front wheel load ratio map 174 , a wheelie torque subtraction quantity map 176 , and a wheelie correction value map 178 selected by a user may be used.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
US13/836,090 2012-03-30 2013-03-15 Traction control device and method for a motorcycle Active 2033-08-16 US8958968B2 (en)

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BR102013008110A2 (pt) 2015-06-16
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DE102013205320B4 (de) 2018-11-22
US20130261925A1 (en) 2013-10-03
ITTO20130241A1 (it) 2013-10-01

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